update main controller launch files

launch/distributed-sorting/main_controller_ceti-table-1_preview.launch

@@ -2,12 +2,13 @@
 
     <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
     <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
-    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell', 'ceti_cell_empty']" doc="potential client cell names"/>
 
     <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+        <param name="arm" type="string" value="arm"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table-1.json"/>
     </node>
 

launch/distributed-sorting/main_controller_virtual_preview.launch

@@ -2,12 +2,13 @@
 
     <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
     <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
-    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
+    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell', 'ceti_cell_empty']" doc="potential client cell names"/>
 
     <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
+        <param name="arm" type="string" value="arm"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_virtual-table.json"/>
     </node>
 

launch/distributed-sorting/main_controller_virtual_preview_ceti-table-1_real_robot.launch

-<launch>
-
-    <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
-    <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
-    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
-    <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
-
-    <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
-
-    <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-1.launch" pass_all_args="true"/>
-
-</launch>

launch/distributed-sorting/main_controller_virtual_preview_ceti-table-2_real_robot.launch

-<launch>
-
-    <arg name="connection_address" default="tcp://*:6576" doc="connection address for NNG scene-based selection"/>
-    <arg name="mqtt_server" default="tcp://127.0.0.1:1883" doc="MQTT server for communication with client cells"/>
-    <arg name="client_controllers" default="['ceti_cell_1', 'ceti_cell_2', 'ads-cell', 'st-cell']" doc="potential client cell names"/>
-    <arg name="robot_ip" default="172.31.1.13" doc="robot IP used by the robot controller"/>
-
-    <include file="$(find ccf_immersive_sorting)/launch/main_controller_virtual_preview.launch" pass_all_args="true"/>
-
-    <include file="$(find ccf_immersive_sorting)/launch/robot-cell_ceti-table-2.launch" pass_all_args="true"/>
-
-</launch>